ministÈre de la dÉfense gesma presentation. gesma/comm29-may-14diapositive n°2 the systems...

MINISTÈRE DE LA DÉFENSE

GESMA PRESENTATION

GESMA/COMM 10 Apr 2023 Diapositive N°2

The systems evaluation and test directorate The systems evaluation and test directorate Main Main sitessites

GESMA


Groupe d’Etudes Sous-Marines de l’AtlantiqueGroupe d’Etudes Sous-Marines de l’Atlantique

FACILITIES LOCATIONFACILITIES LOCATION

LANVEOC


GOVERNMENTAL EXPERTGOVERNMENTAL EXPERT

STUDIES

TRIALSSIMULATIONS

Prospective

Threat assesment

Education

Studies

International exchanges

Performances evaluationRisk management

Expertise

PP

IIAARR

TTCC

EE

CC


Mine Warfare

Underwater

Operations RangesSilencing

Mine

and Mine WarfareUnderwater Warfare

SKILLSSKILLS


Acoustic tanks

Trialling vessels

(Aventurière, Thétis, Langevin)

ROV and experimental AUV(Sea-Twinn, Redermor, Klein 5400)

FACILITIES FACILITIES


Sonar MMI & sonar performance prediction system

Magnetic environment simulator

In situ sonar tests equipment

Combined magnetic, electric & acoustic data acquisition (AMI)

FACILITIES FACILITIES Acoustic tanks

Trialling vessels (Aventurière, Thétis, Langevin)

ROV and experimental AUV (Sea-Twinn, Redermor, Klein 5400)


STAFFSTAFF

28 workers and secretaries

42 PhD’s or equivalent

34 Technicians

Total : 104 employees


Capabilities of The REDERMOR Capabilities of The REDERMOR Unmanned Underwater VehicleUnmanned Underwater Vehicle


Previous VersionsPrevious VersionsCommon Features

cylindrical ( Ø 1.03 m) watertight section common to all versions with exchangeable front and aft parts and cylindrical section in option 4 main thrusters (7.5 kW on shaft each) sensors: MRU, Doppler Log, EM Log, CTD, safety sensors maximum depth : 200 m Control Loops: Speed, heading, altitude, depth, pitch-roll stabilization Man Machine Interface for the supervision

Maneuverable versions High speed version

weight 2600 kg 3100 kg

length 5 m 5.5 m

speed range 0 to 6 knots 2 to 10 knots

auxiliaryactuators

1 transversal thruster3 vertical thrusters

1 canard1 ruder


REDERMOR IIREDERMOR II

Actuators4 main thrusters3 vertical thrusters1 transverse thruster2 pairs of horizontal fins1 rudder1 canard

weight 3700 kg

length 6.4 m

speedranges

0 to 10 knots

auxiliaryactuators

1 transverse thruster

3 vertical thrusters

1 canard

1 rudder



Intern Elements Battery Processors Sonar processors CAN Network


NavigationNavigation

Navigation SensorsInertial Navigation SystemDoppler Velocity LogVertical EchosounderPressure transducerEM logGPSCTD

PingersRelative position

Nautronix or TrackPointII

Absolute position Gib

Safety Gib


NavigationNavigation



Front Looking SonarObstacle detectionMovement estimation: matching between echoes in the different images (CML)

Side Scan Sonar Position estimation: matching with the Feature Map Database

5 10 15 20 25 30

5

10

15

20

25

Perception sensors

Echosounder NetworkObstacle detection


CommunicationCommunication

AcousticLow rateEmergency stopMission modification

High rateImages from sonars

Radio linkLow rateMove the AUV

High rateCollecting dataMission modification

Fiber optictest

collecting data

Workshop linkSerial link

Ethernet

Bus Can link



At Sea Trial Agenda

October2002 - december 2003: Integration and tests of the software modules Global verification Tests in ROV configuration

January - february 2004 Autonomous mission


Non Traditional Navigation UUV Guidance and Non Traditional Navigation UUV Guidance and Control Research ProjectControl Research Project


Main GoalMain Goal

Main objectives :– Precise navigation (for drift limitation) by sonar and inertial data fusion ;– Development of high level functions : image processing, mapping and localization, mission

planning and control ;– Hardware and software Integration for at sea demonstration.

Final Demonstration :To rally different mission areas for operation achievement

To use sonars for mapping and localization

Development of Generic Tools for underwater mobile robots


General System ArchitectureGeneral System Architecture

Perception environment,

internal

Decision Action planning,

guidance, control / command

Functionalities:

- are activated by messages (requests)

- send back messages (events)

- exchange data through shared memory

Execution Monitoring

send requests when events occur

according with Behaviors specifications.

FEATURE MAPPROCESSOR

FEATURE MAPGENERATOR

FLS - SSS

STATEGENERATOR

LOCALPLANNER

GUIDANCE

DYNAMICCONTROL

STATEESTIMATOR

TRADITIONALSENSORS

MISSIONCONTROLLER

GLOBALPLANNER

PROCOSAEXECUTIONMONITORING

ACTUATORS

REQUEST

EVENT


ProCoSA = programming and execution monitoring of autonomous systems (® ONERA)

EdiPet : graphic user interface for Petri nets generation (places for behavioral state, transitions for actions, events for messages)

JdP : Petri player automata (LISP) to run the system VisuPet: possible display of the behavior states during mission execution

added value : integration of independent sub-systems, behavior specification

identical to execution monitoring

event + information

actions = request for computation towardsservers (sockets)

Petri nets :description ofbehavior

event + results

Mission Control with Petri NetsMission Control with Petri Nets


mission start point mission end point

forbiddenarea

high density landmark area(localization)

depth constraints area

no use of active sensors

operation

operation

Mission Definition

execution of operations at specific mission areas partially known environment and mission constraints ability to adapt the mission plan with unexpected events


8200

8400

8600

8800

9000

9200

9400

9600

9800

0 200 400 600 800 1000 1200 1400 1600 1800

8200

8400

8600

8800

9000

9200

9400

9600

9800

0 200 400 600 800 1000 1200 1400 1600 1800

current

Area survey:one-direction

scan

Object research:spiral scan

Pipefollowing

2800

3000

3200

3400

3600

3800

4000

10500 10600 10700 10800 10900 11000 11100 11200

Objectinspectionwith SSS

Operations Planning : ResultsOperations Planning : Results


, X Y

, X Y

, , p q r , , u v w , ,

FMP - SSS

CML - FLS

, X YGPS

Pression

CTD

, ,

, ,

, , X Y Z

H

, , p q r

, , u v wINS

Loch EMKalman

Filter

State

Estimator

State

Gene

rator

, X Y

CTD

Doppler

S. latéral

S. frontal

CML & NavigationCML & Navigation

Recalage par sonar latéral

Recalage par sonar frontal


Simulation in Underwater Robotics


Calcul de la vitesse de rotationSpeed Output

I model

1rad_over_s

first order filter

1/Refficiancy

W

CvTorke Bias Pc

Pv

P_a_vide

P

WoOffset

Cons_to_rad_over_s

C

|u| Abs

1/u1_over_U

3Hydrodynamic Torke

2Tension

1Cons

2currentI

Propulseur modélisé par simulink

Side-Scan Sonar & Forward Looking Sonarsimulation

3-D interface

Simulation workshopSimulation workshop


Vehicle simulation– Strains: actuators, vehicle hydrodynamics,

static strains, external interactions– Sensors (Loch Doppler, pressure sensor, Motion

Reference Unit, Ultra-Short Base Line...)– Other components: battery, acoustic communication...

Example of component simulation :

Robot Simulation ServerRobot Simulation Server

Calcul de la vitesse de rotationSpeed Output

I model

1rad_over_s

first order filter

1/Refficiancy

W

CvTorke Bias Pc

Pv

P_a_vide

P

WoOffset

Cons_to_rad_over_s

C

|u| Abs

1/u1_over_U

3Hydrodynamic Torke

2Tension

1Cons

2currentI

Propeller (simulink module )

Strains

sensors

I

III

II M-1*F


Platform simulatorsPlatform simulators

RMHS / REDERMOR

VAMA

Remora


Simulation using Raytracing method

with noise

Sonar Simulation ServerSonar Simulation Server


Environment Server :– global or local data– 2-D maps (currents, isobathymetry,

sound speed, temperature, textures)

– 3-D maps (bottom, objects)– bathymetry server

Environment ServerEnvironment Server

2

3

1 Visibility Area 1

Visibility Area 2


Access to settings and 2-D situation, 3-D view

MMI : Viewing and ResultsMMI : Viewing and Results


Conclusion and ProspectsConclusion and Prospects


Covert REA evaluation studies


Covert REA projectCovert REA project

Main goal Testbed AUV for covert REA evaluation Multi sensors fusion Final products from REA Navigation adaptability

Now contracting for the AUV


Groupe d ’Études

Sous-Marines de l ’Atlantique

Brest FRANCEGérard LAPIERREGérard LAPIERRE

The TRIDENT acoustic system Interest of real-time acoustic communication for Interest of real-time acoustic communication for

mine and antisubmarine warfaremine and antisubmarine warfare.

Ecole Nationale Supérieure des Télécommunications de BretagneBrest FRANCEJoël TRUBUILJoël TRUBUILJoël LABATJoël LABATThierry LE GALLThierry LE GALL


The TRIDENT systemThe TRIDENT system


Array

500, 1000 & 2000 m

1 mWater depth~22m

Battery

Modem

Acoustic downlink

20cm ~ 5

High data rate up-link

Camera


A potential application...A potential application...

Investigation of a mine by a

diver:

October 2002

Bay of Brest

1000m range

Video transmission

Bit rate: 10 kbps


Array

~ 1000 m

Water depth~22m

Acoustic downlink

20cm ~ 5

High data rate up-linkSea-twinSea-twin


A potential application...A potential application...

Investigation of a mine by

an AUV :

June 2003

Bay of Brest

1000m range

Video transmission

Bit rate: 10 kbps


Futur


Axes de progrèsAxes de progrès

Portage des développements sur la plate-forme Redermor

Homing et dockingDétection et évitement d ’obstacles Intelligence embarquéeOptimisation de navigationMéthode et outils d ’essaisSimulationÉvaluation technico-opérationnelle


Simulation - Schéma directeurSimulation - Schéma directeur

Pérenniser et industrialiser les développements déjà réalisés

S ’interfacer avec les architectures de plus haut niveau (Wargame, ITCS)

Développer les briques « fonctions »(sonar, interférences, communication, signature, environnement, ...)

Développer l ’approche méthodologique utilisée dans la simulation pour l ’acquisition (Prototypage rapide, Identification des paramètres d ’un modèle)

ministÈre de la dÉfense gesma presentation. gesma/comm29-may-14diapositive n°2 the systems...

Documents

autonomous mission slide

network slide

canard slide

diapositive n5

petri nets slide

diapositive n12 redermor

diapositive n17 redermor

diapositive n11 redermor